gnss-sdr/src/core/receiver/gnss_flowgraph.cc

/*!
 * \file gnss_flowgraph.cc
 * \brief Implementation of a GNSS receiver flowgraph
 * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
 *         Luis Esteve, 2012. luis(at)epsilon-formacion.com
 *         Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
 *
 * Detailed description of the file here if needed.
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
 *
 * GNSS-SDR is a software defined Global Navigation
 *          Satellite Systems receiver
 *
 * This file is part of GNSS-SDR.
 *
 * GNSS-SDR is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * GNSS-SDR is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
 *
 * -------------------------------------------------------------------------
 */

#include "gnss_flowgraph.h"
#include "unistd.h"

#include <memory>
#include <algorithm>
#include <exception>
#include <iostream>
#include <set>
#include <boost/lexical_cast.hpp>
#include <boost/tokenizer.hpp>
#include <glog/logging.h>
#include "configuration_interface.h"
#include "gnss_block_interface.h"
#include "channel_interface.h"
#include "gnss_block_factory.h"

#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS 8

using google::LogMessage;

GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration,
        boost::shared_ptr<gr::msg_queue> queue)
{
    connected_ = false;
    running_ = false;
    configuration_ = configuration;
    queue_ = queue;
    init();
}


GNSSFlowgraph::~GNSSFlowgraph()
{}

void GNSSFlowgraph::start()
{
    if (running_)
        {
            LOG(WARNING) << "Already running";
            return;
        }

    try
    {
            top_block_->start();
    }
    catch (std::exception& e)
    {
            LOG(WARNING) << "Unable to start flowgraph";
            LOG(ERROR) << e.what();
            return;
    }

    running_ = true;
}


void GNSSFlowgraph::stop()
{
//    for (unsigned int i = 0; i < channels_count_; i++)
//        {
//            channels_.at(i)->stop_channel();
//            LOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
//        }
//    LOG(INFO) << "Threads finished. Return to main program.";
    top_block_->stop();
    running_ = false;
}


void GNSSFlowgraph::connect()
{
    /* Connects the blocks in the flowgraph
     *
     * Signal Source > Signal conditioner >> Channels >> Observables >> PVT
     */
    LOG(INFO) << "Connecting flowgraph";
    if (connected_)
        {
            LOG(WARNING) << "flowgraph already connected";
            return;
        }

    for (int i = 0; i < sources_count_; i++)
        {
            try
            {
                    sig_source_.at(i)->connect(top_block_);
            }
            catch (std::exception& e)
            {
                    LOG(INFO) << "Can't connect signal source block " << i << " internally";
                    LOG(ERROR) << e.what();
                    top_block_->disconnect_all();
                    return;
            }
        }

    // Signal Source > Signal conditioner >
    for (unsigned int i = 0; i < sig_conditioner_.size(); i++)
        {
            try
            {
                    sig_conditioner_.at(i)->connect(top_block_);
            }
            catch (std::exception& e)
            {
                    LOG(INFO) << "Can't connect signal conditioner block " << i << " internally";
                    LOG(ERROR) << e.what();
                    top_block_->disconnect_all();
                    return;
            }
        }

    for (unsigned int i = 0; i < channels_count_; i++)
        {
            try
            {
                    channels_.at(i)->connect(top_block_);
            }
            catch (std::exception& e)
            {
                    LOG(WARNING) << "Can't connect channel " << i << " internally";
                    LOG(ERROR) << e.what();
                    top_block_->disconnect_all();
                    return;
            }
        }

    try
    {
            observables_->connect(top_block_);
    }
    catch (std::exception& e)
    {
            LOG(WARNING) << "Can't connect observables block internally";
            LOG(ERROR) << e.what();
            top_block_->disconnect_all();
            return;
    }

    // Signal Source > Signal conditioner >> Channels >> Observables > PVT
    try
    {
            pvt_->connect(top_block_);
    }
    catch (std::exception& e)
    {
            LOG(WARNING) << "Can't connect PVT block internally";
            LOG(ERROR) << e.what();
            top_block_->disconnect_all();
            return;
    }

    DLOG(INFO) << "blocks connected internally";
    // Signal Source (i) >  Signal conditioner (i) >
    int RF_Channels = 0;
    int signal_conditioner_ID = 0;

    for (int i = 0; i < sources_count_; i++)
        {
            try
            {
                    //TODO: Remove this array implementation and create generic multistream connector
                    //(if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
                    if(sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0)
                        {
                            //Multichannel Array
                            std::cout << "ARRAY MODE" << std::endl;
                            for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
                                {
                                    std::cout << "connecting ch " << j << std::endl;
                                    top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
                                }
                        }
                    else
                        {
                            //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
                            //Include GetRFChannels in the interface to avoid read config parameters here
                            //read the number of RF channels for each front-end
                            RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);

                            for (int j = 0; j < RF_Channels; j++)
                                {
                                    //Connect the multichannel signal source to multiple signal conditioners
                                    // GNURADIO max_streams=-1 means infinite ports!
                                    LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
                                    LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();

                                    if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
                                        {

                                            LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j;
                                            top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);

                                        }
                                    else
                                        {
                                            if (j == 0)
                                                {
                                                    // RF_channel 0 backward compatibility with single channel sources
                                                    LOG(INFO)  <<  "connecting sig_source_ " << i << " stream " << 0 << " to conditioner " << j;
                                                    top_block_->connect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
                                                }
                                            else
                                                {
                                                    // Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
                                                    LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j;
                                                    top_block_->connect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
                                                }
                                        }

                                    signal_conditioner_ID++;
                                }
                        }
            }
            catch (std::exception& e)
            {
                    LOG(WARNING)  <<  "Can't connect signal source "  <<  i << " to signal conditioner " << i;
                    LOG(ERROR) << e.what();
                    top_block_->disconnect_all();
                    return;
            }
        }
    DLOG(INFO) << "Signal source connected to signal conditioner";

    // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
    int selected_signal_conditioner_ID;
    for (unsigned int i = 0; i < channels_count_; i++)
        {
            selected_signal_conditioner_ID = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".RF_channel_ID", 0);
            try
            {
                    top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
                            channels_.at(i)->get_left_block(), 0);
            }
            catch (std::exception& e)
            {
                    LOG(WARNING) << "Can't connect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i;
                    LOG(ERROR) << e.what();
                    top_block_->disconnect_all();
                    return;
            }

            DLOG(INFO) << "signal conditioner " << selected_signal_conditioner_ID << " connected to channel " << i;

            // Signal Source > Signal conditioner >> Channels >> Observables
            try
            {
                    top_block_->connect(channels_.at(i)->get_right_block(), 0,
                            observables_->get_left_block(), i);
            }
            catch (std::exception& e)
            {
                    LOG(WARNING) << "Can't connect channel " << i << " to observables";
                    LOG(ERROR) << e.what();
                    top_block_->disconnect_all();
                    return;
            }

            std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal!
            std::cout<<"gnss_signal "<<gnss_signal<<std::endl;
            while (gnss_signal.compare(available_GNSS_signals_.front().get_signal_str()) != 0 )
                {
                    available_GNSS_signals_.push_back(available_GNSS_signals_.front());
                    available_GNSS_signals_.pop_front();
                }
            channels_.at(i)->set_signal(available_GNSS_signals_.front());

            if (channels_state_[i] == 1)
                {
                    channels_.at(i)->start_acquisition();
                    available_GNSS_signals_.pop_front();
                    LOG(INFO) << "Channel " << i << " assigned to " << available_GNSS_signals_.front();
                    LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
                }
            else
                {
                    LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
                }
        }

    /*
     * Connect the observables output of each channel to the PVT block
     */
    try
    {
            for (unsigned int i = 0; i < channels_count_; i++)
                {
                    top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
                    top_block_->msg_connect(channels_.at(i)->get_right_block(),pmt::mp("telemetry"),pvt_->get_left_block(),pmt::mp("telemetry"));
                }
    }
    catch (std::exception& e)
    {
            LOG(WARNING) << "Can't connect observables to PVT";
            LOG(ERROR) << e.what();
            top_block_->disconnect_all();
            return;
    }

    connected_ = true;
    LOG(INFO) << "Flowgraph connected";
    top_block_->dump();
}


void GNSSFlowgraph::wait()
{
    if (!running_)
        {
            LOG(WARNING) << "Can't apply wait. Flowgraph is not running";
            return;
        }
    top_block_->wait();
    DLOG(INFO) << "Flowgraph finished calculations";
    running_ = false;
}


bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
{
    //push ephemeris to PVT telemetry msg in port using a channel out port
    // it uses the first channel as a message produces (it is already connected to PVT)
    channels_.at(0)->get_right_block()->message_port_pub(pmt::mp("telemetry"), msg);
    return true;
}

/*
 * Applies an action to the flowgraph
 *
 * \param[in] who   Who generated the action
 * \param[in] what  What is the action 0: acquisition failed
 */
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
    DLOG(INFO) << "received " << what << " from " << who;

    switch (what)
    {
    case 0:
        LOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str();
        available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
        //TODO: Optimize the channel and signal matching!
        while ( channels_.at(who)->get_signal().get_signal_str().compare(available_GNSS_signals_.front().get_signal_str()) != 0 )
            {
                available_GNSS_signals_.push_back(available_GNSS_signals_.front());
                available_GNSS_signals_.pop_front();
            }
        channels_.at(who)->set_signal(available_GNSS_signals_.front());
        available_GNSS_signals_.pop_front();
        usleep(100);
        channels_.at(who)->start_acquisition();
        break;
    case 1:
        LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_.at(who)->get_signal().get_satellite();
        channels_state_[who] = 2;
        acq_channels_count_--;
        if (!available_GNSS_signals_.empty() && acq_channels_count_ < max_acq_channels_)
            {
                for (unsigned int i = 0; i < channels_count_; i++)
                    {
                        if (channels_state_[i] == 0)
                            {
                                channels_state_[i] = 1;
                                while (channels_.at(i)->get_signal().get_signal_str().compare(available_GNSS_signals_.front().get_signal_str()) != 0 )
                                    {
                                        available_GNSS_signals_.push_back(available_GNSS_signals_.front());
                                        available_GNSS_signals_.pop_front();
                                    }
                                channels_.at(i)->set_signal(available_GNSS_signals_.front());
                                available_GNSS_signals_.pop_front();
                                acq_channels_count_++;
                                channels_.at(i)->start_acquisition();
                                break;
                            }
                        DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
                    }
            }

        break;

    case 2:
        LOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_.at(who)->get_signal().get_satellite();
        if (acq_channels_count_ < max_acq_channels_)
            {
                channels_state_[who] = 1;
                acq_channels_count_++;
                channels_.at(who)->start_acquisition();
            }
        else
            {
                channels_state_[who] = 0;
                available_GNSS_signals_.push_back( channels_.at(who)->get_signal() );
            }

        // for (unsigned int i = 0; i < channels_count_; i++)
        //    {
        //        LOG(INFO) << "Channel " << i << " in state " << channels_state_[i] << std::endl;
        //    }
        break;

    default:
        break;
    }
    DLOG(INFO) << "Number of available signals: " << available_GNSS_signals_.size();
}



void GNSSFlowgraph::set_configuration(std::shared_ptr<ConfigurationInterface> configuration)
{
    if (running_)
        {
            LOG(WARNING) << "Unable to update configuration while flowgraph running";
            return;
        }

    if (connected_)
        {
            LOG(WARNING) << "Unable to update configuration while flowgraph connected";
        }
    configuration_ = configuration;
}



void GNSSFlowgraph::init()
{
    /*
     * Instantiates the receiver blocks
     */
    std::unique_ptr<GNSSBlockFactory> block_factory_(new GNSSBlockFactory());

    // 1. read the number of RF front-ends available (one file_source per RF front-end)
    sources_count_ = configuration_->property("Receiver.sources_count", 1);

    int RF_Channels = 0;
    int signal_conditioner_ID = 0;

    if (sources_count_ > 1)
        {
            for (int i = 0; i < sources_count_; i++)
                {
                    std::cout << "Creating source " << i << std::endl;
                    sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, i));
                    //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
                    //Include GetRFChannels in the interface to avoid read config parameters here
                    //read the number of RF channels for each front-end
                    RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
                    std::cout << "RF Channels " << RF_Channels << std::endl;
                    for (int j = 0; j < RF_Channels; j++)
                        {
                            sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, queue_, signal_conditioner_ID));
                            signal_conditioner_ID++;
                        }
                }
        }
    else
        {
            //backwards compatibility for old config files
            sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, -1));
            //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
            //Include GetRFChannels in the interface to avoid read config parameters here
            //read the number of RF channels for each front-end
            RF_Channels = configuration_->property(sig_source_.at(0)->role() + ".RF_channels", 0);
            if (RF_Channels != 0)
                {
                    for (int j = 0; j < RF_Channels; j++)
                        {
                            sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, queue_, signal_conditioner_ID));
                            signal_conditioner_ID++;
                        }
                }
            else
                {
                    //old config file, single signal source and single channel, not specified
                    sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, queue_, -1));
                }
        }

    observables_ = block_factory_->GetObservables(configuration_, queue_);
    pvt_ = block_factory_->GetPVT(configuration_, queue_);

    std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = block_factory_->GetChannels(configuration_, queue_);

    //todo:check smart pointer coherence...
    channels_count_ = channels->size();
    for (unsigned int i = 0; i < channels_count_; i++)
        {
            std::shared_ptr<GNSSBlockInterface> chan_ = std::move(channels->at(i));
            channels_.push_back(std::dynamic_pointer_cast<ChannelInterface>(chan_));
        }

    top_block_ = gr::make_top_block("GNSSFlowgraph");

    // fill the available_GNSS_signals_ queue with the satellites ID's to be searched by the acquisition
    set_signals_list();
    set_channels_state();
    applied_actions_ = 0;

    DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
}


void GNSSFlowgraph::set_signals_list()
{
    /*
     * Sets a sequential list of GNSS satellites
     */
    std::set<unsigned int>::iterator available_gnss_prn_iter;

    /*
     * \TODO Describe GNSS satellites more nicely, with RINEX notation
     * See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf (page 5)
     */

    /*
     * Read GNSS-SDR default GNSS system and signal
     */

    unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
            configuration_->property("Channels_2S.count", 0) +
            configuration_->property("Channels_1B.count", 0) +
            configuration_->property("Channels_5X.count", 0);

    /*
     * Loop to create the list of GNSS Signals
     * To add signals from other systems, add another loop 'for'
     */

    std::set<unsigned int> available_gps_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
                    29, 30, 31, 32 };

    std::set<unsigned int> available_sbas_prn = {120, 124, 126};

    std::set<unsigned int> available_galileo_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
                    11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
                    29, 30, 31, 32, 33, 34, 35, 36};

    std::string sv_list = configuration_->property("Galileo.prns", std::string("") );

    if( sv_list.length() > 0 )
    {
        // Reset the available prns:
        std::set< unsigned int > tmp_set;
        boost::tokenizer<> tok( sv_list );
        std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
                boost::lexical_cast<unsigned int, std::string> );

        if( tmp_set.size() > 0 )
        {
            available_galileo_prn = tmp_set;
        }
    }

    sv_list = configuration_->property("GPS.prns", std::string("") );

    if( sv_list.length() > 0 )
    {
        // Reset the available prns:
        std::set< unsigned int > tmp_set;
        boost::tokenizer<> tok( sv_list );
        std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
                boost::lexical_cast<unsigned int, std::string> );

        if( tmp_set.size() > 0 )
        {
            available_gps_prn = tmp_set;
        }
    }
    sv_list = configuration_->property("SBAS.prns", std::string("") );

    if( sv_list.length() > 0 )
    {
        // Reset the available prns:
        std::set< unsigned int > tmp_set;
        boost::tokenizer<> tok( sv_list );
        std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
                boost::lexical_cast<unsigned int, std::string> );

        if( tmp_set.size() > 0 )
        {
            available_sbas_prn = tmp_set;
        }
    }

    if (configuration_->property("Channels_1C.count", 0) > 0 )
        {
            /*
             * Loop to create GPS L1 C/A signals
             */
            for (available_gnss_prn_iter = available_gps_prn.begin();
                    available_gnss_prn_iter != available_gps_prn.end();
                    available_gnss_prn_iter++)
                {
                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("GPS"),
                            *available_gnss_prn_iter), std::string("1C")));
                }
        }

    if (configuration_->property("Channels_2S.count", 0) > 0)
        {
            /*
             * Loop to create GPS L2C M signals
             */
            for (available_gnss_prn_iter = available_gps_prn.begin();
                    available_gnss_prn_iter != available_gps_prn.end();
                    available_gnss_prn_iter++)
                {
                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("GPS"),
                            *available_gnss_prn_iter), std::string("2S")));
                }
        }

    if (configuration_->property("Channels_SBAS.count", 0) > 0)
        {
            /*
             * Loop to create SBAS L1 C/A signals
             */
            for (available_gnss_prn_iter = available_sbas_prn.begin();
                    available_gnss_prn_iter != available_sbas_prn.end();
                    available_gnss_prn_iter++)
                {
                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("SBAS"),
                            *available_gnss_prn_iter), std::string("1C")));
                }
        }


    if (configuration_->property("Channels_1B.count", 0) > 0)
        {
            /*
             * Loop to create the list of Galileo E1 B signals
             */
            for (available_gnss_prn_iter = available_galileo_prn.begin();
                    available_gnss_prn_iter != available_galileo_prn.end();
                    available_gnss_prn_iter++)
                {
                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Galileo"),
                            *available_gnss_prn_iter), std::string("1B")));
                }
        }

    if (configuration_->property("Channels_5X.count", 0) > 0 )
        {
            /*
             * Loop to create the list of Galileo E1 B signals
             */
            for (available_gnss_prn_iter = available_galileo_prn.begin();
                    available_gnss_prn_iter != available_galileo_prn.end();
                    available_gnss_prn_iter++)
                {
                    available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Galileo"),
                            *available_gnss_prn_iter), std::string("5X")));
                }
        }
    /*
     * Ordering the list of signals from configuration file
     */
    std::list<Gnss_Signal>::iterator gnss_it = available_GNSS_signals_.begin();

    // Preassignation if not defined at ChannelX.signal=1C ...? In what order?

    for (unsigned int i = 0; i < total_channels; i++)
        {
            std::string gnss_signal = (configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".signal", std::string("1C")));
            std::string gnss_system;
            if((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) ) gnss_system = "GPS";
            if((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0) ) gnss_system = "Galileo";
            unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
            LOG(INFO) << "Channel " << i <<  " system " << gnss_system << ", signal " << gnss_signal <<", sat "<<sat;
            if (sat == 0) // 0 = not PRN in configuration file
                {
                    gnss_it++;
                }
            else
                {
                    Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
                    available_GNSS_signals_.remove(signal_value);
                    available_GNSS_signals_.insert(gnss_it, signal_value);
                }
        }

        //    **** FOR DEBUGGING THE LIST OF GNSS SIGNALS ****

        std::list<Gnss_Signal>::iterator available_gnss_list_iter;
            for (available_gnss_list_iter = available_GNSS_signals_.begin(); available_gnss_list_iter
            != available_GNSS_signals_.end(); available_gnss_list_iter++)
            {
              std::cout << *available_gnss_list_iter << std::endl;
            }
}


void GNSSFlowgraph::set_channels_state()
{
    max_acq_channels_ = (configuration_->property("Channels.in_acquisition", channels_count_));
    if (max_acq_channels_ > channels_count_)
        {
            max_acq_channels_ = channels_count_;
            LOG(WARNING) << "Channels_in_acquisition is bigger than number of channels. Variable acq_channels_count_ is set to "
                         << channels_count_;
        }
    channels_state_.reserve(channels_count_);
    for (unsigned int i = 0; i < channels_count_; i++)
        {
            if (i < max_acq_channels_)
                {
                    channels_state_.push_back(1);
                }
            else
                channels_state_.push_back(0);
            DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
        }
    acq_channels_count_ = max_acq_channels_;
    DLOG(INFO) << acq_channels_count_ << " channels in acquisition state";
}